Autonomous seismic nodes for the seabed

ABSTRACT

Embodiments of an autonomous seismic node that can be positioned on the seabed are disclosed. The autonomous seismic node comprises a pressurized node housing substantially surrounded and/or enclosed by a non-pressurized node housing. The seismic node may be substantially rectangular or square shaped for node storage, handling, and deployment. One or more node locks may be coupled to either (or both) of the pressurized node housing or the non-pressurized node housing. The pressurized node housing may be formed as a cast monolithic titanium structure and may be a complex shape with irregularly shaped sides and be asymmetrical. In other embodiments, a non-pressurized housing may substantially enclose other devices or payloads besides a node, such as weights or transponders, and be coupled to a plurality of protrusions.

PRIORITY

This application claims priority to U.S. provisional patent applicationNo. 62/034,584, filed on Aug. 7, 2014, and U.S. provisional patentapplication No. 62/044,471, filed on Sep. 2, 2014, the entire contentsof which is incorporated herein by reference.

BACKGROUND OF THE INVENTION

Field of the Invention

This invention relates to marine seismic systems and more particularlyrelates to autonomous seismic nodes that may be deployed on the seabed.

Description of the Related Art

Marine seismic data acquisition and processing generates a profile(image) of a geophysical structure under the seafloor. Reflectionseismology is a method of geophysical exploration to determine theproperties of the Earth's subsurface, which is especially helpful indetermining an accurate location of oil and gas reservoirs or anytargeted features. Marine reflection seismology is based on using acontrolled source of energy (typically acoustic energy) that sends theenergy through seawater and subsurface geologic formations. Thetransmitted acoustic energy propagates downwardly through the subsurfaceas acoustic waves, also referred to as seismic waves or signals. Bymeasuring the time it takes for the reflections or refractions to comeback to seismic receivers (also known as seismic data recorders ornodes), it is possible to evaluate the depth of features causing suchreflections. These features may be associated with subterraneanhydrocarbon deposits or other geological structures of interest.

In general, either ocean bottom cables (OBC) or ocean bottom nodes (OBN)are placed on the seabed. For OBC systems, a cable is placed on theseabed by a surface vessel and may include a large number of seismicsensors, typically connected every 25 or 50 meters into the cable. Thecable provides support to the sensors, and acts as a transmission mediumfor power to the sensors and data received from the sensors. One suchcommercial system is offered by Sercel under the name SeaRay®. RegardingOBN systems, and as compared to seismic streamers and OBC systems, OBNsystems have nodes that are discrete, autonomous units (no directconnection to other nodes or to the marine vessel) where data is storedand recorded during a seismic survey. One such OBN system is offered bythe Applicant under the name Trilobit®. For OBN systems, seismic datarecorders are placed directly on the ocean bottom by a variety ofmechanisms, including by the use of one or more of Autonomous UnderwaterVehicles (AUVs), Remotely Operated Vehicles (ROVs), by dropping ordiving from a surface or subsurface vessel, or by attaching autonomousnodes to a cable that is deployed behind a marine vessel.

Autonomous ocean bottom nodes are independent seismometers, and in atypical application they are self-contained units comprising a housing,frame, skeleton, or shell that includes various internal components suchas geophone and hydrophone sensors, a data recording unit, a referenceclock for time synchronization, and a power source. The power sourcesare typically battery-powered, and in some instances the batteries arerechargeable. In operation, the nodes remain on the seafloor for anextended period of time. Once the data recorders are retrieved, the datais downloaded and batteries may be replaced or recharged in preparationof the next deployment. Various designs of ocean bottom autonomous nodesare well known in the art. Prior autonomous nodes include sphericalshaped nodes, cylindrical shaped nodes, and disk shaped nodes. Otherprior art systems include a deployment rope/cable with integral nodecasings or housings for receiving autonomous seismic nodes or datarecorders. Some of these devices and related methods are described inmore detail in the following patents, incorporated herein by reference:U.S. Pat. Nos. 6,024,344; 7,310,287; 7,675,821; 7,646,670; 7,883,292;8,427,900; and 8,675,446. Traditional prior art nodes are often made oftubes of various shapes that are joined and/or coupled together withcables, which can be vulnerable to handling and assembly errors. Otherprior nodes can be made of spherical glass pressure housings that needadditional protection and are less than ideal for storage, handling, andstability when on the seabed.

One known node storage, deployment, and retrieval system is disclosed inU.S. Pat. No. 7,883,292 to Thompson, et al. (“Thompson '292”), and isincorporated herein by reference. Thompson et al. discloses a method andapparatus for storing, deploying and retrieving a plurality of seismicdevices, and discloses attaching the node to the deployment line byusing a rope, tether, chain, or other cable such as a lanyard that istied or otherwise fastened to each node and to a node attachment pointon the deployment line. U.S. Pat. No. 6,024,344 to Buckley, et al.(“Buckley”) also involves attaching seismic nodes to the deploymentline. Buckley teaches that each node may be connected to a wire that isthen connected to the deployment line though a separate connector. Thisconnecting wire approach is cumbersome because the wires can get tangledor knotted, and the seismic nodes and related wiring can become snaggedor tangled with structures or debris in the water or on the sea floor oron the marine vessel. U.S. Pat. No. 8,427,900 to Fleure, et al.(“Fleure”) and U.S. Pat. No. 8,675,446 to Gateman, et al. (“Gateman”)each disclose a deployment line with integral node casings or housingsfor receiving seismic nodes or data recorders. One problem withintegration of the casings with the deployment line is that thedeployment line becomes difficult to manage and store. The integratedcasings make the line difficult to wind onto spools or otherwise storemanageably. In these embodiments, the node casings remain attacheddirectly in-line with the cable, and therefore, this is a difficult andcomplex operation to separate the electronics sensor package from thenode casings.

The referenced shortcomings are not intended to be exhaustive, butrather are among many that tend to impair the effectiveness ofpreviously known techniques in seafloor deployment systems; however,those mentioned here are sufficient to demonstrate that themethodologies appearing in the art have not been satisfactory and that asignificant need exists for the systems, apparatuses, and techniquesdescribed and claimed in this disclosure.

The existing techniques for attaching an autonomous node to a cablesuffer from many disadvantages. As an example, attaching a node to arope that is coupled to the deployment line often gets tangled duringdeployment and/or retrieval to the seabed, and does not consistentlyland flat on the seabed, which can cause poor seabed/node coupling andnoise. The spiraling of the tether cable can also cause problems duringthe retrieval when separating the node from the cable. Further, priortechniques of pre-mounted node casings on the deployment line or pre-cutconnecting ropes/wires between the node and the deployment line do notallow for a flexible change in adjacent node spacing/distance; anychange of node spacing requires significant amount of cost and time.Further, the techniques in which such nodes are deployed and retrievedfrom a marine vessel, as well as the manner in which such nodes arestored and handled on the vessel, suffer from many disadvantages.

A need exists for an improved autonomous seismic node design forautomated node storage, handling, deployment, and recovery. A needexists for a node that provides increased operational parameters,increased seabed coupling, and more versatile deployment options. A needexists for a seismic node design that can be mass-produced in a costeffective manner. A need exists for a node that can be used in multipledeployment configurations. A need exists for a seismic node design thatenables large numbers of nodes to be operated in the field.

SUMMARY OF THE INVENTION

Embodiments of an autonomous seismic node that can be positioned on theseabed are disclosed. In one embodiment, the autonomous seismic node maycomprise a pressurized node housing and a modular non-pressurized nodehousing substantially surrounding the pressurized housing. The seismicnode may be substantially square shaped for node storage, handling, anddeployment. One or more node locks may be coupled to either (or both) ofthe pressurized node housing or the non-pressurized node housing. Inanother embodiment, the autonomous seismic node may comprise apressurized node housing that comprises a monolithic pressuring housing.The pressurized node housing may be formed as a cast monolithic titaniumstructure and may be an asymmetric or complex shape with irregularlyshaped sides. In still another embodiment, a modular non-pressurizedhousing is disclosed that is configured to substantially surround aseismic device and be substantially square or rectangle shaped. In otherembodiments, a non-pressurized housing may substantially enclose otherdevices or payloads besides a node, such as weights or transponders, andbe coupled to a plurality of protrusions.

BRIEF DESCRIPTION OF THE DRAWINGS

The following drawings form part of the present specification and areincluded to further demonstrate certain aspects of the presentinvention. The invention may be better understood by reference to one ormore of these drawings in combination with the detailed description ofspecific embodiments presented herein.

FIG. 1A is a schematic diagram illustrating one embodiment of a systemfor marine deployment of an autonomous seismic node.

FIG. 1B is a schematic diagram illustrating one embodiment of a systemfor marine deployment of an autonomous seismic node.

FIG. 2A illustrates a perspective view diagram of one embodiment of anautonomous seismic node.

FIG. 2B illustrates a perspective view diagram of another embodiment ofan autonomous seismic node.

FIG. 3 is a perspective view diagram illustrating one embodiment of asquare shaped autonomous seismic node.

FIGS. 4A and 4B are perspective view diagrams illustrating oneembodiment of a non-pressurized housing that is not square shaped.

FIG. 5 is a perspective view diagram illustrating one embodiment of asquare shaped autonomous seismic node.

FIG. 6A is a perspective view diagram illustrating one embodiment of anautonomous seismic node coupled to a bumper.

FIG. 6B is a perspective view diagram illustrating one embodiment of anautonomous seismic node coupled to a bumper.

FIG. 6C is a perspective view diagram illustrating one embodiment of anautonomous seismic node coupled to a bumper.

DETAILED DESCRIPTION

Various features and advantageous details are explained more fully withreference to the non-limiting embodiments that are illustrated in theaccompanying drawings and detailed in the following description.Descriptions of well-known starting materials, processing techniques,components, and equipment are omitted so as not to unnecessarily obscurethe invention in detail. It should be understood, however, that thedetailed description and the specific examples, while indicatingembodiments of the invention, are given by way of illustration only, andnot by way of limitation. Various substitutions, modifications,additions, and/or rearrangements within the spirit and/or scope of theunderlying inventive concept will become apparent to those skilled inthe art from this disclosure. The following detailed description doesnot limit the invention.

Reference throughout the specification to “one embodiment” or “anembodiment” means that a particular feature, structure, orcharacteristic described in connection with an embodiment is included inat least one embodiment of the subject matter disclosed. Thus, theappearance of the phrases “in one embodiment” or “in an embodiment” invarious places throughout the specification is not necessarily referringto the same embodiment. Further, the particular features, structures, orcharacteristics may be combined in any suitable manner in one or moreembodiments.

Node Deployment

FIGS. 1A and 1B illustrate a layout of a seabed seismic recorder systemthat may be used with autonomous seismic nodes for marine deployment.FIG. 1A is a diagram illustrating one embodiment of a marine deploymentsystem 100 for marine deployment of seismic nodes 110. One or moremarine vessels deploy and recover a cable (or rope) with attached sensornodes according to a particular survey pattern. In an embodiment, thesystem includes a marine vessel 106 designed to float on a surface 102of a body of water, which may be a river, lake, ocean, or any other bodyof water. The marine vessel 106 may deploy the seismic nodes 110 in thebody of water or on the floor 104 of the body of water, such as aseabed. In an embodiment, the marine vessel 106 may include one or moredeployment lines 108. One or more seismic nodes 110 may be attacheddirectly to the deployment line 108. Additionally, the marine deploymentsystem 100 may include one or more acoustic positioning transponders112, one or more weights 114, one or more pop up buoys 116, and one ormore surface buoys 118. As is standard in the art, weights 114 can beused at various positions of the cable to facilitate the lowering andpositioning of the cable, and surface buoys 118 or pop up buoys 116 maybe used on the cable to locate, retrieve, and/or raise various portionsof the cable. Acoustic positioning transponders 112 may also be usedselectively on various portions of the cable to determine the positionsof the cable/sensors during deployment and post deployment. The acousticpositioning transponders 112 may transmit on request an acoustic signalto the marine vessel for indicating the positioning of seismic nodes 110on sea floor 104. In an embodiment, weights 114 may be coupled todeployment line 108 and be arranged to keep the seismic nodes 110 in aspecific position relative to sea floor 104 at various points, such asduring start, stop, and snaking of deployment line 108.

FIG. 1B is a close-up view illustrating one embodiment of a system 100for marine deployment of seismic nodes 110. In an embodiment, thedeployment line 108 may be a metal cable (steel, galvanized steel, orstainless steel). Alternatively, the deployment line 108 may includechain linkage, rope (polymer), wire, or any other suitable material fortethering to the marine vessel 106 and deploying one or more seismicnodes 110. In an embodiment, the deployment line 108 and the seismicnodes 110 may be stored on the marine vessel 106. For example, thedeployment line may be stored on a spool or reel or winch. The seismicnodes 110 may be stored in one or more storage containers. One ofordinary skill may recognize alternative methods for storing anddeploying the deployment line 108 and the seismic nodes 110.

In one embodiment, the deployment line 108 and seismic nodes 110 arestored on marine vessel 106 and deployed from a back deck of the vessel106, although other deployment locations from the vessel can be used. Asis well known in the art, a deployment line 108, such as a rope orcable, with a weight attached to its free end is dropped from the backdeck of the vessel. The seismic nodes 110 are preferably directlyattached in-line to the deployment line 108 at a regular, variable, orselectable interval (such as 25 meters) while the deployment line 108 islowered through the water column and draped linearly or at variedspacing onto the seabed. During recovery each seismic node 110 may beclipped off the deployment line 108 as it reaches deck level of thevessel 106. Preferably, nodes 110 are attached directly onto thedeployment line 108 in an automated process using node attachment orcoupling machines on board the deck of the marine vessel 106 at one ormore workstations or containers. Likewise, a node detaching ordecoupling machine is configured to detach or otherwise disengage theseismic nodes 110 from the deployment line 108, and in some instancesmay use a detachment tool for such detaching. Alternatively, seismicnodes 110 can be attached via manual or semi-automatic methods. Theseismic nodes 110 can be attached to the deployment line 108 in avariety of configurations, which allows for free rotation withself-righting capability of the seismic node 110 about the deploymentline 108 and allows for minimal axial movement on deployment line 108(relative to the acoustic wave length). For example, the deployment line108 can be attached to the top, side, or center of seismic node 110 viaa variety of configurations.

Once the deployment line 108 and the seismic nodes 110 are deployed onthe sea floor 104, a seismic survey can be performed. One or more marinevessels 106 may contain a seismic energy source (not shown) and transmitacoustic signals to the sea floor 104 for data acquisition by theseismic nodes 110. Embodiments of the system 100 may be deployed in bothcoastal and offshore waters in various depths of water. For example, thesystem may be deployed in a few meters of water or in up to severalthousand meters of water. In some configurations surface buoy 118 or popup buoy 116 may be retrieved by marine vessel 106 when the seismic nodes110 are to be retrieved from the sea floor 104. Thus, the system 110 maynot require retrieval by means of a submersible or diver. Rather, pop upbuoy 116 or surface buoy 118 may be picked up on the surface 102 anddeployment line 108 may be retrieved along with seismic nodes 110.

As mentioned above, to perform a seismic survey that utilizes autonomousseismic nodes, those nodes must be deployed and retrieved from a vessel,typically a surface vessel. In one embodiment a node storage and servicesystem is coupled to one or more deployment systems. The node storageand service system is configured to handle, store, and service the nodesbefore and after the deployment and retrieval operations performed by anode deployment system. Such a node storage and service system isdescribed in more detail in U.S. patent application Ser. No. 14/711,262,filed on May 13, 2015, incorporated herein by reference. Such a nodedeployment system is described in more detail in U.S. patent applicationSer. No. 14/820,285, filed on Aug. 6, 2015, entitled Overboard Systemfor Deployment and Retrieval of Autonomous Seismic Nodes, incorporatedherein by reference.

Autonomous Seismic Node Design

FIG. 2A illustrates a perspective view diagram of an autonomous oceanbottom seismic node 110. The seismic node 110 may include a body 202,such as a housing, frame, skeleton, or shell, which may be easilydissembled into various components. Additionally, the seismic node 110may include one or more battery cells 204. In an embodiment, the batterycells 204 may be lithium-ion battery cells or rechargeable battery packsfor an extended endurance (such as 90 days) on the seabed, but one ofordinary skill will recognize that a variety of alternative battery celltypes or configurations may also be used. Additionally, the seismic nodemay include a pressure release valve 216 configured to release unwantedpressure from the seismic node 110 at a pre-set level. The valveprotects against fault conditions like water intrusion and outgassingfrom a battery package. Additionally, the seismic node may include anelectrical connector 214 configured to allow external access toinformation stored by internal electrical components, datacommunication, and power transfer. During the deployment the connectoris covered by a pressure proof watertight cap 218 (shown in FIG. 2B). Inother embodiments, the node does not have an external connector and datais transferred to and from the node wirelessly, such as viaelectromagnetic or optical links.

In an embodiment, the internal electrical components may include one ormore hydrophones 210, one or more (preferably three) geophones 206 oraccelerometers, and a data recorder 212. In an embodiment, the datarecorder 212 may be a digital autonomous recorder configured to storedigital data generated by the sensors or data receivers, such ashydrophone 210 and the one or more geophones or accelerometers 206. Oneof ordinary skill will recognize that more or fewer components may beincluded in the seismic node 110. For example, there are a variety ofsensors that can be incorporated into the node including and notexclusively, inclinometers, rotation sensors, translation sensors,heading sensors, and magnetometers. Except for the hydrophone, thesecomponents are preferably contained within the node housing that isresistant to temperatures and pressures at the bottom of the ocean, asis well known in the art.

While the node in FIG. 2A is circular in shape, the node can be anyvariety of geometric configurations, including square, rectangular,hexagonal, octagonal, cylindrical, and spherical, among other designs.In one embodiment, the node consists of a watertight, sealed case orpressure housing that contains all of the node's internal components. Inanother embodiment, the pressurizing node housing is partially and/orsubstantially surrounded by a non-pressurized node housing that providesthe exterior shape, dimensions, and boundaries of the node. The nodeand/or non-pressurized housing may be square or substantially squareshaped so as to be substantially a quadrilateral, as shown in FIG. 2B.In one embodiment the non-pressurized housing has a cross-sectional areathat is non-circular and may be in the shape of a square or rectangle.For example, the node may have a first plurality of sides that aresubstantially parallel to each other and a second plurality of sidesthat are substantially parallel to each other. One of skill in the artwill recognize that such a node is not a two-dimensional object, butincludes a height, and in one embodiment may be considered a box, cube,elongated cube, or cuboid. In one embodiment, the node has six exteriorfaces or surfaces—four side faces, one bottom face, and one top face—anda plurality of corners that meet each of the faces. The corners andedges of the node may or may not be rounded, beveled, angled, orotherwise softened, as shown in FIG. 5. While the node may begeometrically symmetrical about its central axis, symmetry is not arequirement. Further, the individual components of the node may not besymmetrical, but the combination of the various components (such as thepressurized housing and the non-pressurized housing) provide an overallmass and buoyancy symmetry to the node. In one embodiment, the node isapproximately 350 mm×350 mm wide/deep with a height of approximately 150mm. In one embodiment, body 202 of the node has a height ofapproximately 100 mm and other coupling features, such as node locks 220or protrusions 242, may provide an additional 20-50 mm or more height tothe node. In one embodiment, the height of the node is less than orsubstantially less that (such as less than half) the width of the node.In other embodiments, the height of the node is approximately the sameas the width of the node. The weight of the node may range fromapproximately 10-30 kilograms, and in one embodiment may weightapproximately 20 kilograms, which is approximately the maximum weightthat a single operator may routinely handle, move, and/or carry withoutsignificant strain.

As shown in FIG. 2B, the node's pressure housing may be coupled toand/or substantially surrounded by external non-pressurized node housing240. Various portions of non-pressurized node housing 240 may be openand expose the pressurized node housing as needed, such as forhydrophone 210, node locks 220, and data/power transfer connection 214(shown with a fitted pressure cap 218 in FIG. 2B). Non-pressurized nodehousing 240 provides many functions, such as protecting the node fromshocks and rough treatment, coupling the node to the seabed for betterreadings (such as low distortion and/or high fidelity readings) andstability on the seabed, and assisting in the stackability, storing,alignment, and handling of the nodes. Non-pressurized node housing 240may be made of a durable material such as rubber, plastic, carbon fiber,or metal, and in one embodiment may be made of polyurethane orpolyethylene. Further, the semi-rigid shape and properties of thenon-pressurized housing provides mechanical shock damping to thepressurized node housing during retrieval and deployment operations. Inother embodiments, non-pressurized node housing 240 is configured toprovide acoustical transparency to the pressurized node housing and/orother enclosed acoustic devices (e.g., the non-pressurized housing hasapproximately the same acoustic impedance as water). This ensures thatacoustic signals are not significantly attenuated, reflected, phasedelayed, or otherwise distorted by the non-pressurized housing. Stillfurther, non-pressurized node housing 240 provides extra protection todelicate sensors within the pressurized node housing and/or external tothe pressurized node housing, reduces the risk of snagging the node withropes, and limits debris from entering the node.

In one embodiment, non-pressurized housing 240 comprises handling meansto allow handling of the device in water and in air (such as on the backdeck of a marine vessel). Handling means includes, but is not limitedto, a protruding handle, ring or hook, a rope or wire sling, a flatsurface suitable for a suction device, pockets, recesses, cavities, andother devices known to those of ordinary skill in the art. The handlingmeans may cooperate with a handling device, such as, but not limited to,a winch system, a remotely operating vehicle (ROV) manipulator, asuction device attached to an ROV, a remotely triggered pop-up buoysystem, or even manual means by the use of a human operator. One ofordinary skill in the art would immediately recognize other meansequally suited for this purpose. In this way, the device may be easilygrasped, held, oriented/rotated, transported, and released in water andin air. In contrast, prior art nodes typically have limited to nodedicated mechanisms or configurations to hold and/or handle the nodessafely and effectively, not to mention that the heavy weights of suchnodes prohibit large scale manual handling by a single operative.

In one embodiment, the upper and lower portions of non-pressurizedhousing 240 include a plurality of gripping upper and lower teeth orprotrusions 242, 244, respectively. The protrusions may be made of thesame or different material as non-pressurized housing 240. They can beplastic or metal. The disclosed protrusions provide numerous advantagesand offers significant changes to any protrusions used in conventionalseismic nodes. First, the disclosed protrusions provide increasedgeneral storage and handling capabilities. An upper surface of housing240 may comprise a first plurality of protrusions 242 and the lowersurface of housing 240 may comprise a second plurality of protrusions244. Each of first plurality of protrusions 242 may comprise a firstportion 242 a and a second portion 242 b that forms an opening 243 thatis configured to receive one of the second plurality of protrusions 244from a separate node. In other words, the protrusions of a first nodeare configured to couple, mate, and/or engage with the protrusions of asecond node for efficient stacking and storing. Likewise, theprotrusions are configured to act as guides during conveyor translationin a node handling, storage, and/or servicing system, such that theprotrusions are aligned or placed on either side of a conveyor belt andprevent the node from falling off. Second, the protrusions areconfigured to provide increased seabed coupling. For seismic nodes thatare placed on the seabed, coupling with the seabed is essential for manytypes of seismic devices and for increased seismic data quality. Theplurality of protrusions is configured to couple with a wide variety ofseabed surfaces. Third, the disclosed protrusions are highly versatileand configurable. The protrusions may be removable and/or replaceable incase of damage or if different protrusion quantities, lengths, ormaterials are needed for more effective seabed coupling. For example,vertical bars, cylinders, or protrusions can be screwed into the bottom,top, or sides of the node to provide the needed seabed coupling. In oneembodiment, a set of four pyramid shaped teeth are provided on the upperand lower corners of non-pressurized housing 240. Other arrangements ofthe teeth are possible, including conical and cuboid shaped protrusions.In other embodiments, the protrusions may be coupled to one or moredetachable/removable plates 240 b of the non-pressurized housing.Various plates (with different protrusions and/or different materialproperties) can be utilized for different seabed coupling requirements.In other embodiments, the surface of non-pressurized housing 240 thatthe protrusions are coupled to (such as removable plate 240 b) isconfigured to bend or flex such that the protrusions are able to conformto a shape of the seabed for more effective seabed coupling. Protrusionsmay be located on both an upper and lower surface of the non-pressurizedhousing to provide similar seabed coupling for both sides of the node.By being substantially located on a plurality of the corners of one faceof the non-pressurized node (such as 3 or 4 corners), the spaced apartprotrusions are more likely to provide an effective seabed coupling overa variety of seabed surfaces (such as a harder/firmer seabed andnon-flat seabed). In other words, the greater the distance between theprotrusions, the greater likelihood for a successful seabed coupling.This increased distance between the protrusions is enabled partly by thesquare shape of the node, which provides maximum dimensions in adiagonal width of the node. In still other embodiments, the protrusionsmay be conductive so as to supply power to the node when coupled to oneor more rails during storage or servicing.

The disclosed square or rectangular shaped node offers many advantagesas opposed to a cylindrical, disc, or spherical shaped node and otherprior art nodes. First, an outer (rectangular) shaped node helps tocontrol node orientation during translation and rotation on deck. Forexample, the orientation and positioning of the node is important toensure reliable connection to the deployment cable as well as providingprecision positioning for connector attachment and wireless opticalcommunications. In other words, for a highly automated node deployment,retrieval, and handling system (such as conveyors, stackers, nodedetectors, turn-tables, etc.), it is critical to know the exactpositions of the node's edges, which is facilitated and/or made possibleby a square or rectangle shaped node. Second, a square or rectangularnode provides an efficient way to store large numbers of nodes inconfined spaces (such as shipping containers), as well as increasedmating and interlocking with other nodes. Third, the corner portions ofthe node (and particularly the node's non-pressurized housing) offeradditional compartments to store various components and sensors withoutincreasing the effective node size (e.g., a circular shaped node and asquare shaped node may have the same effective node size for storage).Fourth, the square configuration of the node provides added strength atcorners of the node for improved shock resistance, and in someembodiments, provides additional protection for the hydrophone. Forexample, protruding components such as hydrophones may be protected bythe non-pressurized housing without increasing the effective node size.Fifth, additional areas are provided to attach housings,fenders/bumpers, node locks, and handling mechanisms to the node ascompared to conventional nodes. Sixth, a square shaped node providesadditional room and different configurations for internal components ofthe nodes, such as sensors and batteries, and allows for an overallminimized area of the node. This arrangement of internal components thatare mostly rectangular (cuboid) in shape fits more evenly and compactlyin a square shaped node and provides a more efficient use of space andminimization of the node housing for a given volume of a node. In oneembodiment, the node provides a high-density footprint on the seabedbased upon a relatively high water weight and a small contact surfacearea. Localized contact points (e.g., protrusions) in the corners or theperiphery of the non-pressurizing housing also increase the contactpressure due to the small contact area. For the reasons described aboveand herein, the shape of the node and attachment to the cable providesfor improved stability and more effective coupling of the node to theseabed than that found in prior art.

Node Locks

In one embodiment, seismic node 110 comprises one or more directattachment mechanisms and/or node locks 220 that may be configured todirectly attach seismic node 110 to deployment line 108, as described inmore detail in U.S. patent application Ser. No. 14/736,926, filed onJun. 11, 2015, incorporated herein by reference. This may be referred toas direct or in-line node coupling. In one embodiment, attachmentmechanism 220 comprises a locking mechanism to help secure or retaindeployment line 108 to seismic node 110. A plurality of directattachment mechanisms may be located on any surfaces of node 110 or nodehousing 240. In one embodiment, a plurality of node locks 220 ispositioned substantially in the center and/or middle of a surface of anode or node housing. The node locks may attach directly to the pressurehousing and extend through the non-pressurized node housing 240. In thisembodiment, a deployment line, when coupled to the plurality of nodelocks, is substantially coupled to the seismic node on its center axis.In some embodiments, the node locks may be offset or partially offsetfrom the center axis of the node, which may aid the self-righting,balance, and/or handling of the node during deployment and retrieval.Node locks 220 are configured to attach, couple, and/or engage a portionof the deployment line to the node. Thus, a plurality of node locks 220operates to couple a plurality of portions of the deployment line to thenode. The node locks are configured to keep the deployment line fastenedto the node during a seismic survey, such as during deployment from avessel until the node reaches the seabed, during recording of seismicdata while on the seabed, and during retrieval of the node from theseabed to a recovery vessel. Attachment mechanism 220 may be moved froman open and/or unlocked position to a closed and/or locked position viaautonomous, semi-autonomous, or manual methods. In one embodiment, thecomponents of node lock 220 are made of titanium, stainless steel,aluminum, marine bronze, and/or other substantially inert andnon-corrosive materials, including polymer parts.

As shown in FIG. 2B, two node locks 220 are positioned substantially inthe middle top face of the node. The node locks may be asymmetrical andoriented in opposing and/or offset orientations for better stabilitywhen deploying and retrieving the node from the seabed and formanufacturing/assembly purposes. Node locks may be configured in apositively open and/or a positively closed position, depending on thetype of coupling/decoupling machines used. In some embodiments, a springmechanism is used to bias the node lock in a closed and/or openposition, and in other embodiments other biasing members may be used,such as a flexible plate, a torsion spring, or other bendable/twistablebiasing members, as well as offset travel paths for the deployment wirecausing it to act as a spring due to its in-line stiffness. A ferrule orother stopping mechanism 209 may be located on either side of the nodeon the deployment line, which helps prevent movement of the node on thedeployment line, facilitates attaching/detaching of the node from theline, and facilitates seismic acoustic decoupling between the deploymentline and the node. In other embodiments, ferrules and other stoppers canbe used as a single stop between adjacent nodes (e.g., only one ferrulebetween each node), a plurality of redundant stoppers can be usedbetween each node, or a double stopper and swivel type arrangement canbe used between each node. A ferrule or stopper may limit the movementof the node by many configurations, such as by a sliding attachmentpoint where the node slides between the stoppers, or the stopper mayslide inside a cavity of the node and act as a sliding cavity stopper.The position of the stopper(s) on the deployment line and the couplingof the node to the deployment line is configured for acoustic decouplingbetween the node and the deployment line. In one embodiment, thedistance between adjacent ferrules is greater than the width of thenode, which facilitates the node to be seismically de-coupled from thewire/rope of the deployment line. In some embodiments, each node lockacts as a swivel to allow rotation of the node around the deploymentline. In still other embodiments, the node locks also act as safetydevices (e.g., each node lock may have one or more replaceable weaklinks) to avoid personnel injury and damage to the node or deploymentline.

Node Housings

FIG. 3 is a perspective view diagram illustrating one embodiment of asquare shaped autonomous seismic node 300. Seismic node 300 may comprisea pressurized housing 310, a non-pressurized housing 330, and aplurality of node locks 320 a, 320 b. Pressurized housing 310 may be acomplex shape with one or more irregularly shaped sides. For example, afirst side of the pressurized housing has housing protrusion 314 thatextends out at approximately 45 degrees and makes a first side of thepressurized housing substantially non-linear and/or multi-faceted.Likewise, housing protrusion 312 makes a second side of the pressurizedhousing substantially complex as well. Because of the irregularity inshape and sides, pressurized housing 310 is asymmetrical, which providesa non-circular and non-uniform cross section to the pressurized housing.This complex shape provides many benefits and advantages, but requiressignificant hurdles and disadvantages to address from an overall nodedesign, manufacturing, and handling. For example, because pressurizednode housing 310 is asymmetrical and has a plurality of multi-facetedsides, it has an increased surface area for cooling, which isparticularly important for during on deck high powered charging of apower supply located within the pressurizing housing.

In one embodiment, pressurized node housing 310 is made from a singlepiece of material such that there is no separate connection or mating(or separate fasteners) between the bottom and the sides of the node.This unitary and/or monolithic construction provides many benefits, suchas reduced exposure to the environment (such as pressure andtemperature), reduced components for failure, and decreased labor andexpense for node assembly or machining (if cast). In one embodiment, thenode may include one or more openings or lids on one or more faces ofpressurized node housing 310. In one embodiment, the monolithicconstruction is coupled to a lid that may be screwed, attached, setwithin, and/or coupled to pressurized node housing 310. In oneembodiment, pressurized node housing 310 may be constructed frommachining a bolt of 350 mm in diameter and made of titanium or aluminummaterial. In other embodiments, the housing may be cut from 100 mm plateof similar material and then machined to the appropriate size. In oneembodiment, each of the internal compartments of pressurized nodehousing 310 is machined to size by removal of material from the singlepiece of stock material.

In conventional autonomous seismic nodes, the design and configurationhas not allowed for cost effective mass production, such as thousands ofnodes using expensive metals such as titanium. Traditionally, nodes aremachined from large bolts of material into multiple components (such asa circumferential housing and multiple connecting plates) to form asymmetrical and/or cylindrical housing that are structurally joined orcoupled together with O-rings and bolts as part of the node's assemblyand interconnected by non-reliable cabling. Such a jointed pressurizedhousing may cause many detrimental issues, such as increased pressurefailure potential, increased assembly time and error, and the creationof a large amount of waste and wasted material, all of which increasesthe costs of production. Further, while the pressurized node housing andrelated components is intended to be as non-corrosive as practicallypossible, anodized aluminum is the traditional material of choice for apressurized node housing, primarily because it is easily machined andreadily available. Because aluminum metal is corrosive, conventionalaluminum nodes are machined and then anodized to help prevent corrosion.Other aluminum housing processes may use different finishes such asceramic-based bonded coatings or surface painting. However, over timedeep scratches to the aluminum node may damage the protective coating,causing the aluminum node to corrode. Titanium provides superiorstrength and non-corrosive benefits that have traditionally not beenfeasible for the design and manufacture of a system of autonomousseismic nodes. While titanium would be a preferred metal for thepressurized housing, its cost and difficulty to design makesconventional designs by machined techniques not feasible to be made oftitanium.

In one embodiment, the pressurized housing is cast from titanium. Incontrast to other materials (such as aluminum), cast titanium maintainsits strength and material properties substantially equivalent to anarticle made from a machined bolt material. Other materials that can becast are either too dense for a given strength, or their yield strengthproperties may significantly deteriorate, or the material becomesbrittle and/or porous such that they cannot be used in the same way as amachined article from raw bolt material. Cast titanium also removes theneed to use sacrificial anodes and/or expensive surface treatment tomake it survive in water, in contrast to other materials like aluminum.

A pressurized housing that is formed from a cast offers numerousadvantages. Because it is cast, it may be designed to minimize theweight of metal for a particular configuration of internal electroniccomponents that reside in the body of the pressurized node housing.Further, casted titanium can use scrap material processes rather thanhigher quality stock material, which provides significant cost savings.Still further, rather than being limited to spherical, circular, andother symmetric designs that are more easily machined but are limited inorientation, casting offers additional variables for nodeconfigurations, such as complex/irregular shapes with little to nomachining. This is important as the size, weight, and dimensions of thenode (as well as the related cost) provides significant constraints forthe mass production of node housings.

Because a non-uniform pressure housing may be more susceptible to damagewith increased pressures (particularly those at the bottom of theseabed), non-uniform pressuring housing 310 is configured for increasedstress resistance by the use of high strength titanium, which also has areasonable density to limit the “in air” mass of the node. The strengthof the cast housing may be improved by other design variables, such asvariable outer wall thicknesses (particularly in potentially weak areassuch as corners) and stress reduction by tuning corning radii, as wellas design/testing procedures such as material integrity control anddesign simulation tools used for finite element simulation of stress andstrain. In one embodiment, the monolithic pressuring housing cancomprise a plurality of cast storage compartments (such as for placementof sensors 206 and batteries 204) that provides increased support to thenode structure by providing load sharing between compartmentwalls/structural dividers and the outer wall. Because pressurized nodehousing 310 is asymmetrical, the placement of sensors and storagecompartments may be configured in a way to provide a balanced weight andto provide mechanical integrity in potentially weak areas (such as thenon-round corners).

As shown in FIG. 3, node 300 comprises non-pressurized housing 330 thatsubstantially surrounds pressurized housing 310. In one embodimentnon-pressurized housing may surround all sides of the pressurizedhousing, and in other embodiments it may only surround the verticalsides and one of the upper or lower horizontal surfaces of pressurizedhousing 310. In one embodiment, the non-pressurized housing has a crosssection that is substantially in the shape of a square (with foursimilarly length sides). Thus, even if the pressurized housing is acomplex and non-uniform shape, the non-pressurized housing provides anexterior form and/or shape to the node to make the ultimate node housingand/or dimensions substantially uniform (such as a box or cuboid). Asubstantially square shape to non-pressurized housing 330 provides manybenefits. As one example, because the non-pressurized housing can bedesigned to cooperate and integrate with the intended node deployment,storage, and handling system, a wide variety of node sizes andconfigurations can be inserted into non-pressurized housing 330 for usewith the same node deployment, storage, and handling system. Forexample, the pressurized node housing may be any shape, whether square,disc, spherical, or cylindrical shaped, but may be substantiallyenclosed or encapsulated by a square or rectangular non-pressurizedhousing or case. Thus, in one embodiment, non-pressurized node housing330 makes the node deployment, storage, and handling system uniform andfeasible for a wide variety of node designs with little to no change inthe design of the node (as long as it fits within the non-pressurizedhousing) or non-pressurized housing.

In one embodiment, non-pressurized housing 330 comprises a body 332, oneor more removable seabed coupling plates 334, and a plurality ofprotrusions 336. While not shown in FIG. 3, non-pressurized housing 330may comprise a second plate that may be attached to an upper face orportion of pressurized node housing 310 and be coupled to the pluralityof node locks 320 a, 320 b. Removable coupling plates 334 may havedifferent patterns, suction holes, chamfered holes for soil compactionand fluid transportation, and/or protrusions for seabed coupling for avariety of seabed shapes and compositions. In some embodiments,removable coupling plates are used to balance the overall weight of thenode to compensate for the asymmetric pressurized housing. In stillother embodiments, removable coupling plates 334 can be used to changethe mass balance for different deployment situations, such as high-watercurrents or steep slopes, and/or node penetration depth for softerseabeds, all of which may affect the node's effective height of thecenter of gravity. Non-pressurized housing 330 can be configured to matewith a plurality of different sizes and configurations of removableplates for a variety of purposes. Thus, in one embodiment,non-pressurized housing 330 may be a modular housing, in that it iscomposed of standardized units or sections for easy construction,flexible arrangement, and removability, whether for repair/damage or fordifferent functionality for an intended seabed application.

In one embodiment, non-pressurized housing 330 is capable ofcompensation for weight, buoyancy, and mass distribution for balancingobjectives. For example, if pressurized node housing 310 is too heavy ortoo light, non-pressurized housing 330 can be designed (or weights addedin one or more storage compartments) to be heavy or light asappropriate. In one embodiment, node 300 has a center of gravitysubstantially in the center of the node from both a vertical andhorizontal direction. This is beneficial as symmetric mass balancing(such as center of gravity and center of balance close to center) givesa same sensor response to a seismic signal mostly independent of azimuthof the incoming seismic wave front. In some embodiments, non-pressurizednode housing 330 is used to re-center the center of gravity and/orcenter of mass of the node if pressurized node housing 310 is notcentered.

A plurality of channels, holes, openings, conduits, and/or storagecompartments can be formed in non-pressurized housing 330 as well as inthe volume of space(s) formed between the exterior dimensions ofpressurized housing 310 and the interior dimensions of non-pressurizedhousing 330. Storage compartments 337, 339 can be exposed to water or besubstantially watertight, and may provide protection to the includedcomponents from damage and stress during handling, storage, deployment,and retrieval of the node. For example, storage compartment 337 isexposed to water and allows seawater coupling to one or more pressureresponsive devices, such as hydrophones, that may be coupled to thepressurized housing (e.g., placed on the outside surface of thepressurized housing). On the other hand, compartment 339 is not exposedto water and may be suitable for storing a power supply or otherdevices. Acoustic devices, such as transponders or acoustic pingers, mayalso be placed within non-pressurized housing 330 and protected fromdamage. The storage compartments may be located near the corners ofnon-pressurized housing 330 to take advantage of the non-uniform shapeof pressurized housing 310. Various portions of non-pressurized housing330 may be open and expose the pressurized node housing 310 as needed,such as for a hydrophone, node locks, and data/power transferconnection. For example, opening 335 in the non-pressurized housingexposes data/power transfer connection for use during on-deck data andpower transfers (including wireless data transfer) without taking thenon-pressurized housing off.

FIGS. 4A and 4B are perspective view diagrams illustrating oneembodiment of a non-pressurized housing that is not square shaped.Non-pressurized housing 400 may be directly or indirectly coupled todeployment line 108. Non-pressurized housing 400 comprises a pluralityof sides 410 a (such as 8) forming a plurality of corners 414 a around acircumference of housing 400. Body 410 comprises a lower face 418 thatis coupled to plurality of sides 410 a, thereby forming cavity 401. Oneor more of the lower and/or upper faces and/or plates may be removable.For example, as shown in FIG. 4B, upper plate 420 is coupled to body 410along a periphery edge 412 of body 410. A plurality of removableprotrusions 430 a may be coupled to upper housing plate 420. One or moresides 410 a may comprise one or more openings 416 that is configured tocouple one or more components located within the non-pressurized housing(such as a transponder) to the water.

While the disclosed embodiments are generally directed to anon-pressurized housing that encloses a pressurized node, the disclosedhousing is configured to hold a plurality of other seismic andnon-seismic devices and payloads, such as transponders, weights, andpop-up buoys, within cavity 401. Further, to the extent thatnon-pressurized housing 400 is attached to and/or coupled with one ormore direct attachment mechanisms 220, the non-pressurized housingprovides the capability to deploy and retrieve a wide variety ofpayloads in a safe and highly automated fashion to the seabed using acable or other method (such as an ROV), similar to that for theillustrated node in FIG. 2B. The advantage of using a common form factorfor a variety of devices is that such devices can (enclosed bynon-pressurized housing 400) can easily share the same deployment lineand automated handling and storage system with little to no variation inthe actual deployment/retrieval techniques and equipment.

In one embodiment, non-pressurized housing or case 400 comprises abolted shell, made from two molded plastic parts, and in one embodimentis in the form of a clamshell. In one embodiment, a node lock assemblyand/or fastening bolts may be used to secure the two parts of thehousing together. In one embodiment, non-pressurized housing or case 400comprises a first part and a second part, where each part consists of ata least portion of a bottom, top, and side face. In other embodiments, afirst part includes substantially all of the side faces and either thetop or bottom face, and a second part includes the bottom or top face,such that the two parts can be coupled where the second part acts as alid to the non-pressurized housing.

FIG. 5 is a perspective view diagram illustrating one embodiment of asquare shaped autonomous seismic node 500. Seismic node 500 may comprisea pressurized housing (not shown) surrounded by non-pressurized housing510 coupled to a plurality of node locks 520. Node locks 520 a, 520 bmay be coupled to both the pressurized housing and non-pressurizedhousing 510. In one embodiment, node locks 520 a, 520 b extend throughone or more openings of non-pressurized housing 510, such as on onesubstantially flat surface of the housing. Node locks may be directlyattached to the pressurized node housing and/or non-pressurized housing,and in one embodiment are offset from each other for balancing of thenode. In one embodiment, the node locks 520 are located substantially onopposite ends of a face of the node, such as diagonal corners 511 a, 511b of the node. This configuration provides a diagonal coupling of thedeployment line to the node. Such a diagonal coupling of the node locksprovides many benefits, such as reduced drag during deployment andretrieval operations through the water, as well as dragging along theseabed. In other embodiments, the node locks can be coupled so as toprovide a straight cable orientation, similar to the node lockconfiguration disclosed in FIG. 2B. In other embodiments,non-pressurized housing 510 is configured to provide a non-rigidcoupling between one or more node locks and one or more seismic sensorscontained within a pressurized housing enclosed by the non-pressurizedhousing 510.

Referring still to FIG. 5, in one embodiment the pressurized nodehousing may be covered by non-pressurized housing 510 with a crosssection that is substantially square or rectangular. Non-pressurizedhousing 510 has a first plurality of substantially perpendicular sides514 a, 514 b that are parallel to a second plurality of opposite sides.The corners and edges of the node between sides 514 may or may not berounded, beveled, angled, or otherwise softened. One or more openings516 in non-pressurized housing 510 may couple and/or expose innerportions of the non-pressurized housing (such as one or more sensors) towater. Non-pressurized housing 510 can be formed from two halves ofsubstantially equal sections, and in other embodiments may be in theshape of an open box with one or more removable plates.

FIGS. 6A-6C illustrate various embodiments of an autonomous seismic nodecoupled to various embodiments of a bumper (or fender). The bumperprovides many functions, such as protecting the node from shocks andrough treatment, coupling the node to the seabed for better readings andstability, and assisting in the stackability, storing, alignment, andhandling of the nodes. Each bumper may be made of a durable materialsuch as rubber, plastic, carbon fiber, or metal. In one embodiment, eachbumper system may be configured to allow the node to be easily stackableor storable with other seismic nodes. Each bumper may comprise an upperportion and a lower portion that extend beyond a top and bottom face,respectively, of a node. Thus, in one embodiment, bumpers may beconfigured to act as teeth and/or protrusions for the node, along withall of the benefits and configurations described herein. In a variety ofconfigurations, the node bumpers can be placed on the top and bottomportions of the node, the corners of the node, and/or the sides of node.In one embodiment, the use of one or more bumpers provides an overallsubstantially square or rectangular shape to the node. Such aconfiguration may include square shaped bumpers surrounding acylindrical pressure housing or other non-square shaped node housing tomake the overall node profile square or rectangular shaped. In otherembodiments, one or more node locks may be integrated with and/orattached or coupled to the node locks, and in other embodiments thebumpers are designed to minimize interference with the node locks.

In FIG. 6A, seismic node 601 may be substantially square shaped withcorner bumper 611 coupled to each of its four corners via one or morebolts or pins. In another embodiment, portions of the node, such as thecorners, include grooved pockets or recesses or receptacles that engagea corresponding mating unit on a bumper. In FIG. 6B, seismic node 602may be coupled to a bumper frame 620 comprising a first plurality ofbumpers 621 on each of its corners and a second plurality of bumpers 623on each of its side faces, thereby forming bumper frame 620substantially surrounding a plurality of sides of the node. Bumpers 621and bumpers 623 may be coupled to each other for increased strength. InFIG. 6C, seismic node 603 may be coupled to a plurality of bumpers 630.Bumper 630 may include a first portion 633 that is coupled to a top faceof the node and a plurality of second portions 631 a, 631 b that arecoupled to one or more side faces of the node. Bumper 630 may includegroove 634 in upper portion 633 to receive the deployment line forincreased retention and attachment of the deployment line. Top surfacebumper 633 and side surface bumpers 631 a, 631 b may be individualpieces attached separately to the node. In other embodiments they may beintegrated such as to form a U-shaped bumper such that two separateU-shaped bumpers are placed on opposite ends of the seismic node to forma bumper system 630 partially or substantially surrounding the node. Inone embodiment, the bumper is made of a separate material from thepressurized node housing, such as a molded plastic such as polyethylene,which provides good shock resistance and can be built up by a pluralityof plastic shells and ribs for increased thickness and other properties.

Many other variations in the overall configuration of a node,pressurizing node housing, non-pressurized node housing, and the numberand arrangement of node locks are possible within the scope of theinvention. For example, while many of the disclosed embodiments discussa non-pressurized housing that substantially surrounds a node, thenon-pressurized housing may also surround and/or enclose other payloaddevices, such as weights and transponders, thereby allowing a widevariety of seismic devices to be directly coupled to the deploymentcable in a highly automated fashion. It is emphasized that the foregoingembodiments are only examples of the very many different structural andmaterial configurations that are possible within the scope of thepresent invention.

Although the invention(s) is/are described herein with reference tospecific embodiments, various modifications and changes can be madewithout departing from the scope of the present invention(s), as setforth in the claims below. Accordingly, the specification and figuresare to be regarded in an illustrative rather than a restrictive sense,and all such modifications are intended to be included within the scopeof the present invention(s). Any benefits, advantages, or solutions toproblems that are described herein with regard to specific embodimentsare not intended to be construed as a critical, required, or essentialfeature or element of any or all the claims.

Unless stated otherwise, terms such as “first” and “second” are used toarbitrarily distinguish between the elements such terms describe. Thus,these terms are not necessarily intended to indicate temporal or otherprioritization of such elements. The terms “coupled” or “operablycoupled” are defined as connected, although not necessarily directly,and not necessarily mechanically. The terms “a” and “an” are defined asone or more unless stated otherwise. The terms “comprise” (and any formof comprise, such as “comprises” and “comprising”), “have” (and any formof have, such as “has” and “having”), “include” (and any form ofinclude, such as “includes” and “including”) and “contain” (and any formof contain, such as “contains” and “containing”) are open-ended linkingverbs. As a result, a system, device, or apparatus that “comprises,”“has,” “includes” or “contains” one or more elements possesses those oneor more elements but is not limited to possessing only those one or moreelements. Similarly, a method or process that “comprises,” “has,”“includes” or “contains” one or more operations possesses those one ormore operations but is not limited to possessing only those one or moreoperations.

What is claimed is:
 1. An autonomous seismic node for deployment to theseabed, comprising: a node pressure housing, wherein at least oneseismic sensor, at least one data recording unit, and at least one clockare located within the node pressure housing; a modular non-pressurehousing substantially surrounding the node pressure-housing, wherein thenon-pressure housing comprises an upper face and a lower face and one ormore side faces, wherein a cross-sectional area of the modularnon-pressure housing is substantially a rectangle.
 2. The seismic nodeof claim 1, wherein the modular non-pressure housing is substantially inthe shape of a cuboid.
 3. The seismic node of claim 1, wherein anexterior shape of the modular non-pressure housing provides the exteriorshape of the autonomous seismic node.
 4. The seismic node of claim 1,wherein the modular non-pressure housing is configured to couple to theseabed, wherein the upper face is substantially flat and the lower faceis substantially flat.
 5. The seismic node of claim 1, wherein theautonomous seismic node comprises one or more storage compartmentslocated exterior of the node pressure housing.
 6. The seismic node ofclaim 1, wherein the autonomous seismic node comprises one or morestorage compartments located substantially in one or more corners of themodular non-pressure housing.
 7. The seismic node of claim 1, whereinthe autonomous seismic node has a center of gravity substantially in thecenter of the node.
 8. The seismic node of claim 1, wherein theautonomous seismic node comprises one or more node locks that arecoupled to the node pressure housing and the modular non-pressurehousing.
 9. The seismic node of claim 1, wherein the modularnon-pressure housing comprises a first plurality of protrusionssubstantially at a plurality of corners on a substantially flat face ofthe modular non-pressure housing that are configured to couple with theseabed.
 10. An apparatus for deploying a payload device to the seabed,comprising: a modular non-pressure housing that is configured tosubstantially surround a payload device on all sides of the payloaddevice, wherein the modular non-pressure housing comprises one or moresides and one upper face and one lower face, where a cross-sectionalarea of the modular non-pressure housing is approximately a rectangle,wherein the modular non-pressure housing is configured to land on theseabed.
 11. The apparatus of claim 10, wherein the payload device is atransponder or weight.
 12. The apparatus of claim 10, wherein themodular non-pressure housing is configured to couple with a deploymentline or an ROV.
 13. The apparatus of claim 10, wherein the payloaddevice is a node pressure housing for an autonomous seismic node,wherein at least one seismic sensor, at least one data recording unit,and at least one clock are located within the node pressure housing. 14.The apparatus of claim 10, wherein the payload device is a node pressurehousing for an autonomous seismic node, wherein the modular non-pressurehousing is configured for acoustic transparency for the autonomousseismic node.
 15. The apparatus of claim 10, wherein the payload deviceis a node pressure housing for an autonomous seismic node, wherein themodular non-pressure housing is configured to provide mechanical shockdamping to the autonomous seismic node.
 16. The apparatus of claim 10,wherein the modular non-pressure housing is configured to provide anon-rigid coupling between one or more node locks and one or moreseismic sensors.
 17. The apparatus of claim 10, wherein the modularnon-pressure housing is coupled to one or more direct attachmentmechanisms configured for direct attachment to a deployment line. 18.The apparatus of claim 10, wherein the modular non-pressure housingcomprises a body and one or more removable coupling plates.
 19. Theapparatus of claim 10, further comprising a first plurality ofprotrusions coupled to the modular non-pressure housing that are eachconfigured to stack with a second plurality of protrusions on a separatemodular non-pressure housing.
 20. The apparatus of claim 10, furthercomprising a first plurality of removable protrusions configured tocouple with the seabed.
 21. An autonomous seismic node for deployment tothe seabed, comprising: a node pressure housing, wherein at least oneseismic sensor, at least one data recording unit, and at least one clockare located within the node pressure housing, wherein the node pressurehousing comprises cast titanium and a body with one or more irregularlyshaped sides corresponding to the configuration of one or more of theseismic sensor, at least one data recording unit, and at least oneclock; and a modular non-pressure housing substantially surrounding eachof the surfaces of the node pressure housing, wherein the modularnon-pressure housing has a cross-sectional area that is substantiallyrectangular.
 22. The autonomous seismic node of claim 21, wherein thehousing is a monolithic housing.
 23. The autonomous seismic node ofclaim 21, wherein the housing comprises a plurality of cast compartmentsconfigured to hold one or more seismic devices.
 24. The autonomousseismic node of claim 21, wherein the non-pressure housing has across-sectional area that has a complex shape.
 25. The autonomousseismic node of claim 21, wherein the housing comprises a body with alower face and a plurality of sides seamlessly coupled to the lowerface.
 26. The autonomous seismic node of claim 21, wherein the nodepressure housing comprises an opening configured to receive a lid. 27.The autonomous seismic node of claim 21, wherein the node pressurehousing comprises one or more multi-faceted sides.
 28. The autonomousseismic node of claim 21, wherein the node pressure housing comprisesone or more substantially non-linear sides.
 29. The autonomous seismicnode of claim 21, wherein the node pressure housing is not symmetrical.30. The autonomous seismic node of claim 21, wherein the one or moreirregularly shaped sides is configured to minimize the dimensions of thenode pressure housing.